将RGB图像和depth深度图像存入同一个HDF5文件中

Bertha 。 2022-12-11 13:55 78阅读 0赞

# 目标 #

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3NoeWpoeXAxMQ_size_16_color_FFFFFF_t_70][]

# 代码 #

#include <iostream>
    #include "hdf5.h"
    #include<opencv2/opencv.hpp> 
    
    #include <assert.h>
    using namespace std;
    
    int  main(void)
    {
      
        cv::Mat rgbImage = cv::imread("/home/john/projects/testhdf5/rgb_000131.png");
        cv::Mat depthImage = cv::imread("/home/john/projects/testhdf5/depth_000131.png"); 
    
        // define basic information for h5 file
        std::string fileName = "lhjpic.h5";
        std::string datasetDepthName = "depth";
        std::string datasetRGBName = "rgb";
        
        int height = rgbImage.rows;
        int width = rgbImage.cols;
        int channel = 3;
    
        hid_t       file, datasetDepth, datasetRGB;       
        hid_t       datatypeDepth, datatypeRGB, dataspaceDepth, dataspaceRGB; 
        hsize_t   dimsDepth[2], dimsRGB[3]; 
        herr_t     status;
        float       dataDepth[height][width];
        int		  dataRGB[channel][height][width];
    
        // set the value for depth dataset
        for(int h = 0; h < height; h++)
          for(int w = 0; w < width; w++)
    	  dataDepth[h][w] =  depthImage.ptr<float>(h)[w];
        // make sure the image is RGB/BRG  format. 
        assert(rgbImage.channels() == 3);
    
        // set the value for rgb dataset
        for(int h=0; h < height; h++)
        {
            cv::Vec3b *ptr = rgbImage.ptr<cv::Vec3b>(h);
    	    for(int w=0; w < width; w++)
    	    {
    	      dataRGB[0][h][w] =  ptr[w][0];
    	      dataRGB[1][h][w] =  ptr[w][1];
    	      dataRGB[2][h][w] =  ptr[w][2]; 
    	    }
        }
    
        // create h5 file
        file = H5Fcreate(fileName.c_str(), H5F_ACC_TRUNC, H5P_DEFAULT, H5P_DEFAULT);
        
        // set the dims, dataspace, and datatype for two datasets
        dimsDepth[0] = height;
        dimsDepth[1] = width;
        dimsRGB[0] = channel; 
        dimsRGB[1] = height;
        dimsRGB[2] = width;
        dataspaceDepth 	= H5Screate_simple(2, dimsDepth, NULL);
        dataspaceRGB 	= H5Screate_simple(3, dimsRGB, NULL);  
        
        datatypeDepth = H5Tcopy(H5T_NATIVE_FLOAT);
        status = H5Tset_order(datatypeDepth, H5T_ORDER_LE);
        
        datatypeRGB = H5Tcopy(H5T_NATIVE_INT);
        status = H5Tset_order(datatypeRGB, H5T_ORDER_LE);
        
        // create two specified datasets in the file
        datasetDepth = H5Dcreate2(file, datasetDepthName.c_str(), datatypeDepth, dataspaceDepth,
    						H5P_DEFAULT, H5P_DEFAULT, H5P_DEFAULT);
        datasetRGB = H5Dcreate2(file, datasetRGBName.c_str(), datatypeRGB, dataspaceRGB,
    						H5P_DEFAULT, H5P_DEFAULT, H5P_DEFAULT);
        
        // write the date to the respective dataset
        status = H5Dwrite(datasetDepth, H5T_NATIVE_FLOAT, H5S_ALL, H5S_ALL, H5P_DEFAULT, dataDepth);
        status = H5Dwrite(datasetRGB, H5T_NATIVE_INT, H5S_ALL, H5S_ALL, H5P_DEFAULT, dataRGB);
        
        // close all handles
        H5Sclose(dataspaceDepth);
        H5Tclose(datatypeDepth);
        H5Dclose(datasetDepth);
        H5Sclose(dataspaceRGB);
        H5Tclose(datatypeRGB);
        H5Dclose(datasetRGB);
        H5Fclose(file);
        
        std::cout << "Hello, hdf!" << std::endl;
        return 0;
    }

## CMakelist.txt ##

cmake_minimum_required(VERSION 2.6)
    project(testhdf5)
    
    set( CMAKE_CXX_FLAGS "-std=c++11 -O3" )
    
    include_directories("/usr/local/hdf5/include")
    LINK_DIRECTORIES("/usr/local/hdf5/lib")
    LINK_LIBRARIES(hdf5 hdf5_hl)
    
    find_package(OpenCV 3)
    if(NOT OpenCV_FOUND)
       find_package(OpenCV 2.4.3 QUIET)
       if(NOT OpenCV_FOUND)
          message(FATAL_ERROR "OpenCV > 2.4.3 not found.")
       endif()
    endif()
    
    add_executable(testhdf5 main.cpp)
    
    target_link_libraries(testhdf5 ${OpenCV_LIBS})
    
    install(TARGETS testhdf5 RUNTIME DESTINATION bin)

[watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3NoeWpoeXAxMQ_size_16_color_FFFFFF_t_70]: /images/20221123/76c7934e6fb349189ad42fe2f96f2dd6.png